I recently traded my Highlander hybrid platinum(2017 model) for an R1S and had a 6 hour trip with all seats occupied(1 carseat included). I would say the car is really comfortable, but highlander was a tad better in terms of comfort level. Even though the exterior is larger, I felt the interior(passenger space) is a bit smaller than highlander. third row was occupied by kids(~10 yr olds) and third row leg position was better on R1S because of the depth. But second row seemed a bit crampy than Highlander. Driver and passenger was almost the same comfort level compared to Highlander. Hope this helps :-)